CN110770593B - Method for smoothing power limit of battery and battery management system - Google Patents

Abstract

A method and battery management system for smoothing a power limit when charging or discharging a battery are provided. A method according to an embodiment of the present disclosure includes determining a first weighting factor based on a maximum charging voltage and a terminal voltage of a battery; determining a second weighting factor based on the last smoothed charging power limit, the current charging power limit, and the then current instantaneous power; the smaller one of the first weighting factor and the second weighting factor is set as a first reference weighting factor, and the current charging power limit is smoothed based on the last smoothed charging power limit and the first reference weighting factor.

Description

Method for smoothing power limit of battery and battery management system

Technical Field

The present disclosure relates to a method and a battery management system for smoothing a power limit when charging or discharging a battery.

The present application claims priority from korean patent application No.10-2018-0015140, filed in korean on 7.2.2018, the disclosure of which is incorporated herein by reference.

Background

In recent years, the demand for portable electronic products such as notebook computers, video cameras, and mobile phones has been sharply increased, and with the widespread development of electric automobiles, secondary batteries for energy storage, robots, and satellites, many studies are being conducted on high-performance batteries that can be repeatedly charged.

Currently, commercially available batteries include nickel-cadmium batteries, nickel-hydrogen batteries, nickel-zinc batteries, lithium batteries, and the like, wherein the lithium batteries have little or no memory effect because they have advantages of free charge and discharge, extremely low self-discharge rate, and high energy density, and thus receive much attention as compared to nickel-based batteries.

In order to safely use the battery, it is necessary to determine the power limit of the battery for the charging process and the discharging process, respectively, and perform control based on the determined power limit. In order to determine the power limit of the battery, the terminal voltage of the battery needs to be predicted in advance.

However, since the battery operates in an environment where the terminal voltage and the current greatly fluctuate in some cases, it is not easy to predict what the terminal voltage of the battery will be in a predetermined time from the present time. In addition, even if the terminal voltage of the battery can be predicted very accurately, if the current of the battery continues to change sharply, the power limit of the battery, which is periodically updated according to the terminal voltage and the current of the battery, may show a significant change. When the periodically updated power limit changes abruptly, the battery management system will not be able to properly control the charging/discharging of the battery.

Disclosure of Invention

Technical problem

The present disclosure is designed to solve the above-mentioned problems, and therefore, the present disclosure aims to provide a method and a battery management system for smoothing a charge power limit of a periodically updated battery.

The present disclosure is further directed to a method and battery management system for smoothing the discharge power limit of a periodically updated battery.

These and other objects and advantages of the present disclosure will be understood by the following description, and will become apparent from the embodiments of the present disclosure. Further, it will be readily understood that the objects and advantages of the present disclosure may be realized by means set forth in the appended claims and combinations thereof.

Technical scheme

A method for smoothing a charge power limit of a battery according to an aspect of the invention, comprising: measuring a terminal voltage and current of the battery; determining an instantaneous power of the battery based on the measured terminal voltage and the measured current; determining a charging current limit and a charging voltage limit of the battery; determining a charging power limit for the battery based on the charging current limit and the charging voltage limit; determining a first weighting factor based on a given maximum charging voltage and the measured terminal voltage; determining a second weighting factor based on the last smoothed charge power limit, the charge power limit, and the instantaneous power; setting a smaller one of the first weighting factor and the second weighting factor as a first reference weighting factor; smoothing the charging power limit based on the last smoothed charging power limit and the first reference weighting factor; and transmitting a notification signal indicating the smoothed charging power limit to an external device.

Determining the first weighting factor may include determining the first voltage difference by subtracting the measured terminal voltage from the maximum charging voltage; determining a first delay time associated with the first voltage difference according to a given first lookup table, the given first lookup table defining a correlation between the voltage difference in the charging direction and the delay time; and determining a first weighting factor based on the first delay time.

The step of determining the first weighting factor may be performed using equation 1 below,

< equation 1>

Wherein, T_{v_c_s}Is a first delay time, T_{v_c_r}Is a given first reference time, and W_{v_c}Is the first weighting factor.

The step of determining the second weighting factor may comprise determining a first power difference by subtracting the instantaneous power from the last smoothed charging power limit; determining a first power ratio indicative of a relative magnitude of the first power difference to the last smoothed charging power limit; determining a second delay time associated with the first power ratio from a given second look-up table defining a correlation between power difference and delay time; and determining a second weighting factor based on the second delay time.

The step of determining the second weighting factor may be performed using equation 2 below,

< equation 2>

Wherein, T_{p_c_s}Is the second delay time, T_{p_c_r}Is a given second reference time, and W_{p_c}Is the second weighting factor.

The step of smoothing the charging power limit may use the following equation 3,

< equation 3>

P_{s_c}＝W_{LPF_c}P_{s_c_pre}+{1-W_{LPF_c}}P_{raw_c}

Wherein, W_{LPF_c}Is a first reference weighting factor, P_{s_c_pr}Is the last smoothed charge power limit, P_{raw_c}Is the charging power limit, and P_{s_c}Is the smoothed charging power limit.

A method for smoothing a discharge power limit of a battery according to another aspect of the present invention includes measuring a terminal voltage and a current of the battery; determining an instantaneous power of the battery based on the measured terminal voltage and the measured current; determining a discharge current limit and a discharge voltage limit of the battery; determining a discharge power limit of the battery based on the discharge current limit and the discharge voltage limit; determining a third weighting factor based on the given minimum discharge voltage and the measured terminal voltage; determining a fourth weighting factor based on the last smoothed discharge power limit, the discharge power limit, and the instantaneous power; setting a smaller one of the third weighting factor and the fourth weighting factor as a second reference weighting factor; smoothing the discharge power limit based on the last smoothed discharge power limit and a second reference weighting factor; and transmitting a notification signal indicating the smoothed discharge power limit to an external device.

The step of determining the third weighting factor may comprise determining the second voltage difference by subtracting the measured terminal voltage from the minimum discharge voltage; determining a third delay time associated with the second voltage difference from a given third look-up table defining a correlation between the voltage difference in the discharge direction and the delay time; and determining a third weighting factor based on the third delay time.

The step of determining the fourth weighting factor may comprise: determining a second power difference by subtracting the instantaneous power from the last smoothed discharge power limit; determining a second power ratio indicative of a relative magnitude of the second power difference to the last smoothed discharge power limit; determining a fourth delay time associated with the second power ratio from a given fourth lookup table defining a correlation between the power difference and the delay time; and determining a fourth weighting factor based on the fourth delay time.

The step of smoothing the discharge power limit may use the following equation 4,

< equation 4>

P_{s_d}＝W_{LPF_d}P_{s_d_pre}+{1-W_{LPF_d}}P_{raw_d}

Wherein, W_{LPF_d}Is a second reference weighting factor, P_{s_d_pre}Is the last smoothed discharge power limit, P_{raw_d}Is the discharge power limit, and P_{s_d}Is the smoothed discharge power limit.

A battery management system for smoothing a charging power limit of a battery according to still another aspect of the present invention includes a sensing unit measuring a terminal voltage and a current of the battery; and a control unit operatively coupled to the sensing unit. The control unit is configured to determine an instantaneous power of the battery based on the measured terminal voltage and the measured current. The control unit is configured to determine a charging current limit and a charging voltage limit of the battery. The control unit is configured to determine a charging power limit of the battery based on the charging current limit and the charging voltage limit. The control unit is configured to determine a first weighting factor based on a given maximum charging voltage and the measured terminal voltage. The control unit is configured to determine a second weighting factor based on the last smoothed charge power limit, the charge power limit, and the instantaneous power. The control unit is configured to set a smaller one of the first weighting factor and the second weighting factor as a first reference weighting factor, and the control unit is configured to smooth the charging power limit based on the last smoothed charging power limit and the first reference weighting factor. The control unit is configured to transmit a notification signal indicating the smoothed charging power limit to the external device.

A battery management system for smoothing a discharge power limit of a battery according to still another aspect of the present invention includes a sensing unit measuring a terminal voltage and a current of the battery; and a control unit operatively coupled to the sensing unit. The control unit is configured to determine an instantaneous power of the battery based on the measured terminal voltage and the measured current. The control unit is configured to determine a discharge current limit and a discharge voltage limit of the battery. The control unit is configured to determine a discharge power limit of the battery based on the discharge current limit and the discharge voltage limit. The control unit is configured to determine a third weighting factor based on the given minimum discharge voltage and the measured terminal voltage. The control unit is configured to determine a fourth weighting factor based on the last smoothed discharge power limit, the discharge power limit, and the instantaneous power. The control unit is configured to set a smaller one of the third weighting factor and the fourth weighting factor as the second reference weighting factor. The control unit is configured to smooth the discharge power limit based on the last smoothed discharge power limit and the second reference weighting factor. The control unit is configured to transmit a notification signal indicating the smoothed discharge power limit to the external device.

Advantageous effects

According to at least one of the embodiments of the present disclosure, the periodically updated charge power limit of the battery may be smoothed.

In addition, according to at least one of the embodiments of the present disclosure, the discharge power limit of the periodically updated battery may be smoothed.

The effects of the present disclosure are not limited to the above-described effects, and these and other effects will be clearly understood by those skilled in the art from the appended claims.

Drawings

The accompanying drawings illustrate preferred embodiments of the present disclosure and, together with the detailed description of the disclosure described below, serve to provide a further understanding of the technical aspects of the disclosure, and therefore the disclosure should not be construed as being limited to the accompanying drawings.

Fig. 1 is a diagram illustrating a functional configuration of a battery pack according to an embodiment of the present disclosure.

Fig. 2 is a diagram showing an exemplary equivalent circuit model of a battery.

Fig. 3 is a flow chart illustrating a method for estimating the resistance of the first resistor as one of the parameters of the equivalent circuit model according to an embodiment of the present disclosure.

Fig. 4 shows a diagram referred to in describing the method of fig. 3.

Fig. 5 and 6 are flowcharts illustrating a method for estimating the resistance of the second resistor as one of the parameters of the equivalent circuit model according to an embodiment of the present disclosure.

Fig. 7 shows a diagram referred to in describing the method of fig. 5.

Fig. 8 is a flow chart illustrating a method for determining charge and discharge power limits of a battery according to another embodiment of the present disclosure.

Fig. 9 and 10 illustrate different exemplary graphs that may be referenced in describing the method of fig. 8.

Fig. 11 is a flow chart illustrating a method for smoothing a charge power limit of a battery according to another embodiment of the present disclosure.

Fig. 12 and 13 show different exemplary graphs for reference in describing the method of fig. 11.

Fig. 14 is a flowchart illustrating a method for smoothing a discharge power limit of a battery according to another embodiment of the present disclosure.

FIG. 15 illustrates an exemplary graph referenced in describing the method of FIG. 14.

Detailed Description

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Before the description, it should be understood that the terms or words used in the specification and the appended claims should not be construed as limited to general and dictionary meanings, but interpreted based on the meanings and concepts corresponding to technical aspects of the present invention on the basis of the principle that the inventor is allowed to define terms appropriately for the best explanation.

Therefore, the embodiments described herein and the illustrations shown in the drawings are only the most preferred embodiments of the present disclosure and are not intended to fully describe the technical aspects of the present disclosure, so it should be understood that various other equivalents and modifications may be made thereto at the time of filing this application.

In addition, in describing the present disclosure, when it is considered that some detailed description of related known elements or functions makes the key subject matter of the present disclosure unclear, the detailed description is omitted herein.

Terms including ordinal numbers such as "first," "second," etc., are used to distinguish one element from another element among the various elements, but are not intended to limit the elements by the terms.

Unless the context clearly dictates otherwise, it will be understood that the term "comprising" or "comprises", when used in this specification, specifies the presence of the stated element but does not preclude the presence or addition of one or more other elements. In addition, the term < control unit > as used herein refers to at least one functional or operational processing unit, and this may be implemented by hardware or software, either alone or in combination.

Further, throughout the specification, it will be further understood that when an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may be present.

Fig. 1 is a diagram showing a functional configuration of a battery pack 1 according to an embodiment of the present disclosure.

Referring to fig. 1, a battery pack 1 includes a battery 10, a switch 20, and a battery management system 100. The switch 20 is configured to adjust the magnitude of the charging current and/or the discharging current of the battery 10 in response to a switching signal (e.g., a pulse width modulation signal) from the battery management system 100.

The battery management system 100 is electrically coupled to the battery 10 and is configured to monitor and control the state of the battery 10. The battery management system 100 includes a sensing unit 110, a memory 120, a control unit 130, and a communication interface 140.

The sensing unit 110 includes a current measuring unit 111. The current measurement unit 111 measures the current of the battery 10 at each time step defined by a predefined time length, and transmits a current signal indicating the measured current to the control unit 130. The current when discharging the battery 10 may be referred to as "discharge current", and the current when charging the battery 10 may be referred to as "charge current". The control unit 130 may convert the current signal in analog form transmitted from the current measuring unit 111 into current data in digital form. Hereinafter, it is assumed that the current at the time of charging is measured as a positive value, and the current at the time of discharging is measured as a negative value.

The sensing unit 110 may further include a voltage measuring unit 112. The voltage measurement unit 112 measures the terminal voltage of the battery 10 at each time step, and transmits a voltage signal indicating the measured terminal voltage to the control unit 130. The control unit 130 may convert the voltage signal in analog form transmitted from the voltage measuring unit 112 into voltage data in digital form.

The sensing unit 110 may further include a temperature measuring unit 113. The temperature measurement unit 113 measures the temperature of the battery 10 at each time step, and transmits a temperature signal indicating the measured temperature to the control unit 130. The control unit 130 may convert the temperature signal in analog form transmitted from the temperature measuring unit 113 into temperature data in digital form. The current measuring unit 111, the voltage measuring unit 112, and the temperature measuring unit 113 may operate in time synchronization with each other. Hereinafter, the k-th time step is represented as "time step k". In addition, the terminal voltage and current measured by the sensing unit 110 at time step k are denoted as v (k) and i (k), respectively.

The memory 120 may additionally store data, instructions, and software necessary for the overall operation of the battery management system 100. The memory 120 may store data indicating the results of operations performed by the control unit 130. The terminal voltage, current, and/or temperature of the battery 10 measured by the sensing unit 110 at each time step may be sequentially recorded in the memory 120. The memory 120 may include at least one storage medium of a flash memory type, a hard disk type, a Solid State Disk (SSD) type, a Silicon Disk Drive (SDD) type, a multimedia card micro type, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), and a Programmable Read Only Memory (PROM).

The control unit 130 is operatively coupled to the sensing unit 110, the memory 120 and the communication interface 140. The control unit 130 sequentially records the terminal voltage, current, and/or temperature of the battery 10 measured by the sensing unit 110 at each time step in the memory 120 in sequence. The control unit 130 may move a sliding time window having a predefined size at each time step as large as the time interval Δ t of the time step and read a plurality of terminal voltages and currents measured in the sliding time window among all terminal voltages and currents recorded in the memory 120 from the memory 120. For example, when the time interval of the time step is 0.01 seconds and the size of the sliding time window is 10 seconds, 1000 terminal voltages and 1000 currents may be read from the memory 120 at each time step.

The control unit 130 may be physically implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a microprocessor, and an electrical unit for performing other functions.

The communication interface 140 may be coupled to an external device 2 such as an Electronic Control Unit (ECU) of an electric vehicle to enable communication therebetween. The communication interface 140 may receive a command message from the external device 2 and provide the received command message to the control unit 130. The command message may be a message requesting activation of a specific function of the device. The communication interface 140 may transmit a notification message from the control unit 130 to the external device 2. The notification message may be a message for informing the external device 2 of the result of the function performed by the control unit 130 (for example, the charge state of the battery).

Fig. 2 is a diagram illustrating an exemplary equivalent circuit model 200 for a battery.

Referring to fig. 2, the equivalent circuit model 200 may include a voltage source 205, a first resistor 210, a second resistor 220, and a capacitor 230. The parameters of the equivalent circuit model 200 may include the resistance of the first resistor 210, the resistance of the second resistor 220, and the capacitance of the capacitor 230.

Voltage source 205 represents the Open Circuit Voltage (OCV) V of the battery as determined by the state of charge (SOC) and temperature of the battery_OCV. That is, when determining SOC and temperature, OCV V may be uniquely determined_OCV. OCV V may be predefined for each SOC and each temperature_OCV. That is, an OCV-SOC map defining the correlation between the SOC, the temperature, and the OCV of the battery may be prestored in the memory 110. OCV at the kth time step may be represented as V_OCV(k)。

The first resistor 210 models the short term voltage fluctuations by the current flowing through the battery. The terminal voltage measured when charging the battery is higher than the OCV due to the internal resistance of the battery 10. In contrast, the terminal voltage measured when the battery is discharged is lower than the OCV.

The second resistor 220 and the capacitor 230 are connected in parallel with each other. As shown, the second resistor 220 may be connected in series to the first resistor 210. The parallel connection circuit of the second resistor 220 and the capacitor 230 may be referred to as an "RC pair". In contrast to the first resistor 210, the second resistor 220 is connected in parallel to the capacitor 230. Thus, the RC pair can model the polarization voltage generated during charging or discharging of the battery. That is, the parallel combination of the second resistor 220 and the capacitor 230 is used to model the transient response history of the battery.

It is assumed that the resistance of the first resistor 210 and the resistance of the second resistor 220 are constant at R, respectively₁And R₂. If Δ t is very small, each of the terminal voltage and current of cell 10 measured at any time step may be constant until the next time step, and thus, between two adjacent time steps, the voltage source205 may also be considered constant.

Assume that the polarization voltage of the RC pair is V at any time point beginning at time step k_polaAnd the resistance of first resistor 210 and the resistance of second resistor 220 are respectively constant at R from time step k to time step q₁And R₂. Then, the voltage V of the equivalent circuit model 200 at the time step q_model(q) may be expressed as the following equation 1.

< equation 1>

τ is the preset time constant of the RC pair.

Fig. 3 is a flow chart illustrating a method for estimating the resistance of the first resistor 210 as one of the parameters of the equivalent circuit model 200 according to an embodiment of the present disclosure; and figure 4 shows a diagram for reference in describing the method of figure 3.

In step S310, the control unit 130 reads measurement data indicating the first number of terminal voltages and the first number of currents measured by the sensing unit 110 at each time step in a sequential order in a sliding time window having a predefined size from the memory 120. That is, the control unit 130 reads, from the memory 120, the first number of terminal voltages and the first number of currents recorded in the memory 120 during the lapse of a predefined time from the current time step using the sliding time window that has moved to the current time step from the end time point. The predefined time is equal to the size of the sliding time window. The first number is set by a predefined time and a time interval at between each time step. For example, when the predefined time is 10 seconds and Δ t is 0.01 seconds, the first number is 10 seconds/0.01 seconds is 1000. Each time the sliding time window moves by Δ t, the oldest one of the first number of terminal voltages is discarded and a new measured terminal voltage is added. Likewise, each time the sliding time window moves by Δ t, the oldest one of the first number of currents is discarded and a new measured current is added.

The first number of terminal voltages includes a terminal voltage V (n) measured at a current time step and a terminal voltage V (n-1) measured at a previous time step. The first number of currents comprises the current I (n) measured at the present time step and the current I (n-1) measured at the last time step.

In step S320, the control unit 130 calculates a voltage change Δ V (n) for the current time step based on the terminal voltage V (n) measured at the current time step and the terminal voltage V (n-1) measured at the last time step. In this instance, the control unit 130 may calculate the voltage change Δ V (n) by subtracting the terminal voltage V (n-1) measured at the last time step from the terminal voltage V (n) measured at the current time step. That is, Δ V (n) ═ V (n) — V (n-1).

In step S330, the control unit 130 calculates a current change Δ I (n) for the current time step based on the current I (n) measured at the current time step and the current I (n-1) measured at the previous time step. In this example, the control unit 130 may calculate the current change Δ I (n) by subtracting I (n-1) of the last time step measurement from I (n) of the current time step measurement. That is, Δ I (n) ═ I (n) — I (n-1).

Unlike fig. 3, step S330 may be performed earlier than step S320, or simultaneously with step S320.

In step S340, the control unit 130 determines whether the voltage change Δ v (n) and the current change Δ i (n) satisfy the first data filtering condition. The first data filtering condition is a criterion for determining whether Δ v (n) and Δ i (n) are suitable as learning data for estimating the resistance of the first resistor 210.

The control unit 130 may determine that the first data filtering condition is satisfied when (i) an absolute value of the current change Δ i (n) is greater than a first threshold, and (ii) a product of the voltage change Δ v (n) and the current change Δ i (n) is greater than 0.

The first threshold value is a real number greater than 0, and is preset based on a measurement error of the current measurement unit 111. First resistor 210 is used to model the instantaneous voltage fluctuations due to the internal resistance of battery 10, and therefore, Δ i (n) is suitably used to estimate the resistance of first resistor 210 at the current time step when the absolute value of Δ i (n) is greater than a first threshold value. In contrast, when the absolute value of Δ i (n) is equal to or smaller than the first threshold, it is highly likely that Δ i (n) is generated by the measurement error of the current measurement unit 111, and thus it is not appropriate to use Δ i (n) to estimate the resistance of the first resistor 210 at the present time step.

In addition, the voltage of the first resistor 210 is proportional to the current flowing through the first resistor 210 according to ohm's law. Therefore, it is appropriate to use Δ v (n) and Δ i (n) to estimate the resistance of the first resistor 210 at the current time step only when Δ v (n) and Δ i (n) have the same sign. In contrast, Δ v (n) having a positive value and Δ i (n) having a negative value or v (n) having a negative value and Δ i (n) having a positive value indicate that the voltage change of the first resistor 210 violates ohm's law, and thus it is not suitable to use Δ i (n) to estimate the resistance of the first resistor 210 at the current time step. Each of the two graphs shown in fig. 4 shows the change in voltage and current of the battery 10 over the same time range. In fig. 4, both the voltage and the current satisfying the first data filtering condition are marked by bold dots.

When the value of step S340 is "yes," the method moves to step S350. In contrast, when the value of step S340 is "no", the method moves to step S360.

In step S350, the control unit 130 estimates the resistance R of the first resistor 210 based on the last time step_{1_est}(n-1), voltage change Δ V (n), and current change Δ I (n) to estimate the resistance of first resistor 210 at the current time step.

The control unit 130 may estimate the resistance of the first resistor 210 at the current time step using a Recursive Least Squares (RLS) algorithm, and a detailed description is provided hereinafter.

First, the weighted sum of squared errors S1 related to the resistance estimate of the first resistor 210 may be expressed as equation 2 below.

< equation 2>

In equation 2, R_{1_est}(n) is the resistance of the first resistor 210 to be estimated. In addition, in equation 2, λ is a first forgetting factor preset to be greater than 0 and less than 1. Since λ will have less effect on the resistance estimate of the first resistor 210 when the terminal voltage and current are measured at an earlier time in the past from the current time step.

The solution of the weighted sum of squared errors S1, i.e., R that minimizes S1, can be calculated by equations 3 and 4 below_{1_est}(n)。

< equation 3>

< equation 4>

R_{1_est}(n)＝R_{1_est}(n-1)+P₁(n)ΔI(n){ΔV(n)-R_{1_est}(n-1)ΔI(n)}

P₁(n) and P₁(n-1) are the correction factor for the current time step and the correction factor for the previous time step, respectively. That is, P is expressed by equation 4₁(n-1) update to P₁(n)。

In equation 4, R_{1_est}(n-1) is the pre-estimated resistance of first resistor 210 at the last time step. The control unit 130 may calculate the estimated resistance R of the first resistor 210 for the current time step using equations 3 and 4_{1_est}(n)。

For the case where the value of the symbol n indicating the current time step becomes 1 due to the initialization of the battery management system 100, P may be set to₁(0) And R_{1_est}(0) As different initial values, are pre-stored in the memory 120. For example, P₁(0)＝(1-λ)/(TH₁)²And TH is₁May be equal to the first threshold. In addition, R_{1_est}(0) May be a preset value corresponding to the temperature of the battery 10 measured at the initial time step. Control unit 130 estimates resistance R of first resistor 210 for the current time step_{1_est}(n) is stored in memory 120.

In step S360, the control unit 130 will be aboveResistance R of first resistor 210 estimated in a time step_{1_est}(n-1) resistance R of first resistor 210 set to be estimated at the current time step_{1_est}(n) of (a). That is, the resistance of the first resistor of the current time step is treated to be equal to the resistance R of the first resistor 210 estimated at the previous time step_{1_est}(n-1). Thus, unlike S350, R_{1_est}(n)＝R_{1_est}(n-1)。

Fig. 5 and 6 are flowcharts illustrating a method for estimating the resistance of the second resistor 220 as another of the parameters of the equivalent circuit model 200 according to an embodiment of the present disclosure, and fig. 7 illustrates a diagram referred to in describing the method of fig. 5.

In step S510, the control unit 130 determines whether the first number of currents satisfies the second data filtering condition. The second data filtering condition is a criterion for determining whether the first number of terminal voltages and the first number of currents are suitable as learning data for estimating the resistance of the second resistor 220.

When the difference between the maximum value and the minimum value of the first number of currents is greater than the second threshold value, the control unit 130 may determine that the second data filtering condition is satisfied. The graph shown in fig. 7 shows the change in the current of the battery 10 measured over a longer time than the size of the sliding time window. Assume that the size of the sliding time window is 10 seconds and the second threshold is 10A. Referring to fig. 7, the difference between the maximum value and the minimum value of the measured current from 330 seconds to 340 seconds is 100A or more. Therefore, the current measured from 330 seconds to 340 seconds satisfies the second data filtering condition. In contrast, the measured current from 390 seconds to 400 seconds is constant and does not satisfy the second data filtering condition.

Due to the capacitor 230, the voltage of the second resistor 220 changes more slowly than the voltage of the first resistor 210. Therefore, it is preferable that the second threshold value is larger than the first threshold value.

When the value of step S510 is yes, step S520 is performed. When the value of step S510 is "no", step S630 is performed.

In step S520, the control unit 130 generates a measured voltage vector based on the first number of terminal voltages, and generates a measured current vector based on the first number of currents. Hereinafter, it is assumed that the first number is m of 2 or more. Those skilled in the art will appreciate that n, which indicates the order of the current time step, is greater than m.

The measurement voltage vector can be expressed as an m × 1 matrix as follows.

V_vec＝[V(n-m+1)V(n-m+2)V(n-m+3)...V(n)]^T

The measurement current vector can be expressed as an m × 1 matrix as follows.

I_vec＝[I(n-m+1)I(n-m+2)I(n-m+3)...I(n)]^T

In the above, the symbol T denotes a transposed matrix.

In step S530, the control unit 130 estimates the resistance R of the first resistor 210 at the current time step based on the measured voltage vector, the measured current vector, and the current time step_{1_est}And (n) generating a reference voltage vector. R_{1_est}(n) represents the internal resistance of the battery 10, and R is assumed to be_{1_est}(n) is constant over the sliding time window. The reference voltage vector may then be represented as follows.

Y_{w_vec}＝V_vec-R_{1_est}(n)I_vec

Reference voltage vector Y_{w_vec}A result of subtracting each of the first number of currents by the voltage of the internal resistance from each of the first number of terminal voltages is represented.

In step S540, the control unit 130 may generate a first feature vector, a first parameter vector, and a first model voltage vector based on the equivalent circuit model 200 and the measured current vector. The first model voltage vector is a product of the first feature vector and the first parameter vector.

Let r, K_vec、H_{ind_vec}And 1_vecThe definition is as follows.

K_vec＝[r r² r³… r^m]^T

1_vec＝[1 1 1 … 1]^T

OCV at voltage source 205 is constant at V over the sliding time window_ocvIn the case of (2), when the above definition is applied to equation 1, a first model voltage vector expressed as equation 5 below may be derived.

< equation 5>

V_{model1_vec}＝V _ocv1_vec+R₂H_{ind_vec}+V_polaK_vec＝[1_vec H_{ind_vec} K_vec][V_ocv R₂ V_pola]^T

In equation 5, when X_{1_vec}＝[1_vec H_{ind_vec} K_vec],β_{1_vec}＝[V_ocv R₂ V_pola]^T Equation 5 can be simplified to equation 6 below. The first model voltage vector may be a result of modeling the reference voltage vector.

< equation 6>

V_{model1_vec}＝X_{1_vec}β_{1_vec}

X_{1_vec}Is the first eigenvector represented as an m x 3 matrix. Beta is a_{1_vec}Is a first parameter vector represented as a 3 x 1 matrix and converts the first feature vector to a first model voltage vector. The three components contained in the first parameter vector are unknown.

In step S550, the control unit 130 estimates the resistance of the second resistor 220, which indicates the transient response history of the battery in the sliding time window, based on the reference voltage vector and the first feature vector.

The sum of squared errors S2 between the reference voltage vector and the first model voltage vector may be expressed as equation 7 below.

< equation 7>

S2＝||Y_{w_vec}-V_{model1_vec}||²＝||Y_{w_vec}-X_{1_vec}β_{1_vec}||²

The control unit 130 may estimate the first parameter vector minimizing the sum of squared errors S2 using equation 8 below.

< equation 8>

β_{1_win}＝[V_{ocv_win} R_{2_win} V_{pola_win}]^T＝(X_{1_vec} ^TX_{1_vec})^-1X_{1_vec} ^TY_{w_vec}

The transient response history of the battery generated in the sliding time window is defined by a first number of terminal voltages and a first number of currents. Therefore, the component R of the first parameter vector estimated using equation 8 above_{2_win}Is the estimated resistance of the second resistor 220, which indicates the transient response history of the battery in the sliding time window.

In step S560, the control unit 130 may calculate a first error value corresponding to the sum of squared errors S3 between the reference voltage vector and the first model voltage vector based on the reference voltage vector and the first feature vector.

The control unit 130 may calculate the sum of squared minimum errors S3 using equation 9 described below in connection with the least square method.

< equation 9>

S3＝Y_{w_vec} ^T{E-X_{1_vec}(X_{1_vec} ^TX_{1_vec})^-1X_{1_vec} ^T}Y_{w_vec}

In equation 9, E is an identity matrix.

The first error value may be any one of (i) S3, (ii) the average of S3, i.e., S3/m, and (iii) the square root of S3/m.

In step S570, the control unit 130 may generate a second feature vector, a second parameter vector, and a second model voltage vector based on the substitute circuit model and the measured current vector as a result of removing the second resistor 220 from the equivalent circuit model 200. The second model voltage vector is a product of the second feature vector and the second parameter vector.

Since the substitute circuit model does not have the second resistor 220 of the equivalent circuit model 200, R is removed from the first parameter vector₂As a result of (2), the second parameter vector is represented as β_{2_v}＝[V_ocv V_pola]^TAnd as removing H from the first feature vector_{ind_v}As a result of (2), the second feature vector is represented as X_{2_vec}＝[1_v k_v]. Accordingly, the second model voltage vector may be expressed as equation 10 below.

< equation 10>

V_{model2_vec}＝X_{2_vec}β_{2_vec}

In step S580, the control unit 130 may calculate a second error value corresponding to the sum of squared errors between the reference voltage vector and the second model voltage vector S4 based on the reference voltage vector and the second feature vector.

The control unit 130 may calculate the sum of squared minimum errors S4 using equation 11 described below in connection with the least square method.

< equation 11>

S4＝Y_{w_vec} ^T{E-X_{2_vec}(X_{2_vec} ^TX_{2_vec})^-1X_{2_vec} ^T}Y_{w_vec}

The second error value may be any one of (i) S4, (ii) the average of S4, i.e., S4/m, and (iii) the square root of S4/m.

In step S610, the control unit 130 estimates the resistance R based on the second resistor 220 indicating the transient response history of the battery in the sliding time window_{2_win}The first error value and the second error value, and determining whether a third data filtering condition is satisfied.

In detail, in step S610, the control unit 130 determines each of the following: (i) r_{2_win}Whether greater than 0 ohms, and (ii) whether the second error value is greater than a value obtained by multiplying the first error value by a scaling factor (e.g., 1.1) preset to be greater than 1. That is, when R is_{2_win}Greater than 0 ohms and the second error value is greater than passThe third data filtering condition may be satisfied when the first error value is multiplied by the scale factor.

In practice, the resistance of the second resistor 220 cannot be 0 ohm or less in physical terms. Thus, R_{2_win}Being 0 ohms or less indicates that the first number of terminal voltages and the first number of currents are not suitable for resistance estimation of the second resistor 220. In addition, as described above, the second error value represents that the polarization voltage caused by the RC is not considered. Therefore, a value obtained by multiplying the first error value by the scale factor is larger than the second error value, indicating that the first number of terminal voltages and the first number of currents do not properly reflect the dynamic characteristics of the voltage generated by the second resistor 220.

When the third data filtering condition is satisfied, S620 is performed, otherwise, S630 is performed.

In step S620, the control unit 130 estimates the resistance R of the first resistor 210 at the current time step based on the measured voltage vector, the measured current vector, and the current time step_{1_est}(n) and an estimated resistance R of the second resistor 220 indicative of the transient response history of the battery 10 in the last observed period_{2_est}(n-1), the resistance of the second resistor 220, which is indicative of the transient response history of the battery in the current observation period, is estimated. The last observation period is a period from the initial time step to the last time step. The current observation period is a period from the initial time step to the current time step.

The control unit 130 may estimate the resistance of the second resistor 220 at the current time step using equation 12 below, which represents a function based on the RLS algorithm.

< equation 12>

R_{2_est}(n)＝f(R_{1_est}(n)，R_{2_est}(n-1)，V_vec，I_vec)

In equation 12, when R is input_{1_est}(n)、R_{2_est}(n-1)、V_vecAnd I_vecWhen the function f () outputs R_{2_est}(n)。R_{2_est}(n-1) is the estimated resistance of the second resistor 220, which indicates the transient response history of the battery in the last observed period. Likewise, R_{2_est}(n) is the estimated resistance of the second resistor 220, which indicates the transient response history of the battery in the current observation period.

In step S630, the control unit 130 will indicate the estimated resistance R of the second resistor 220 of the transient response history of the battery 10 in the last observation period_{2_est}(n-1) an estimated resistance R of the second resistor 220 set to indicate a transient response history of the battery 10 in a current observation period_{2_est}(n) of (a). That is, the transient response history of the battery 10 in the last observation period is treated to be equal to the transient response history of the battery 10 in the current observation period. Thus, unlike S620, R_{2_est}(n)＝R_{2_est}(n-1)。

The control unit 130 may use the estimated resistance R of the first resistor 210_{1_est}(n) and the estimated resistance R of the second resistor 220_{2_est}(n) to predict the terminal voltage of the battery 10, and to adjust the duty ratio of the switching signal output to the switch 20 based on the predicted terminal voltage.

The control unit 130 may use the estimated resistance R of the first resistor 210_{1_est}(n) and the estimated resistance R of the second resistor 220_{2_est}(n) to estimate the SOC of the battery 10 at the current time step, and to adjust the duty ratio of the switching signal output to the switch 20 based on the estimated SOC.

Fig. 8 is a flowchart illustrating a method for determining a charging power limit and a discharging power limit of the battery 10 according to another embodiment of the present disclosure, and fig. 9 and 10 illustrate different exemplary graphs referred to in describing the method of fig. 8. The method of fig. 8 begins after estimating the resistance of the first resistor 210 and the resistance of the second resistor 220 by the methods of fig. 3, 5, and 6.

Referring to fig. 8, in step S800, the control unit 130 may estimate the polarization voltage V of the battery 10_pola(n) of (a). The polarization voltage V can be estimated by various known methods_pola(n) of (a). The control unit 130 may estimate V using equation 8 in step S550 of fig. 5_{pola_win}As a polarisation voltage V_pola(n), and in this case, step S800 may be omitted.

In step S810, the control unit 130 bases the resistance R of the second resistor 220_{2_est}(n), measurement terminal voltage V (n), measurement current I (n), and polarization voltage V of cell 10_pola(n) predicting at a predefined time T_hardThe terminal voltage of the battery 10 thereafter.

Assume a predefined time T from the current time step_hardThe current of the inner cell 10 is constant as I_hard。I_hardMay be equal to or greater than or less than i (n). When assumed at a predefined time T from the current time step_hardThe OCV of the internal battery 10 is constant until the predetermined time T elapses from the current time step_hardAt an arbitrary time point t of the elapsed period, the terminal voltage V of the battery 10_tMay be expressed as equation 13 below.

< equation 13>

t_nIs the point in time indicating the current time step.

The control unit 130 may calculate the predicted terminal voltage using equation 14 below. I can be obtained by substituting I (n) into equation 13_hardAnd will t_n+T_hardSubstituting t yields equation 14.

< equation 14>

V_pred(n) is the predicted terminal voltage.

In step S820, the control unit 130 bases on the resistance R of the first resistor 210_{1_est}(n) and resistance R of second resistor 220_{2_est}(n) predicting at a predefined time T_hardThe net resistance of the battery 10 thereafter. The control unit 130 may calculate the predicted pure resistance using equation 15 below.

< equation 15>

R_net(n) is the predicted pure resistance. As mentioned above, R_{2_est}(n) is greater than 0 ohm, therefore, R_net(n) is greater than R_{1_est}(n)。

In step S840, the control unit 130 determines the charging current limit I_{limit_c}(n) of (a). In detail, the control unit 130 predicts the terminal voltage V based on the measured current i (n)_pred(n) predicting the pure resistance R_net(n) and a given maximum charging voltage V_maxTo determine the charging current limit I_{limit_c}(n) of (a). The control unit 130 may determine the charging current limit I using equation 16 below_{limit_c}(n)。

< equation 16>

When I is_{limit_c}(n) greater than a given maximum charging current I_maxIn time, the control unit 130 may limit the charging current I_{limit_c}(n) is determined as the sum of the given maximum charging current I_maxThe same value.

In step S850, the control unit 130 determines the charging voltage limit V_{limit_c}(n) of (a). In detail, the control unit 130 is based on the measurement terminal voltage v (n), the measurement current I (n), the charging current limit I_{limit_c}(n) and resistance R of first resistor 210_{1_est}(n) to determine the charging voltage limit V_{limit_c}(n) of (a). The control unit 130 may determine the charging voltage limit V using equation 17 below_{limit_c}(n)。

< equation 17>

V_{limit_c}(n)＝V(n)+{I_{limit_c}(n)-I(n)}R_{1_est}(n)

In equation 17, V_{limit_c}(n) is equal to t ═ t of equation 13_nAnd I_hard＝I_{limit_c}(n)。

FIG. 9 shows a slavet_nTo t_n+T_hardThe current of the battery 10 is constant at I_{limit_c}(n) a voltage diagram of the change in terminal voltage of the battery 10. I.e. by mixing I_{limit_c}(n) substituting into I of equation 13_hardThe voltage diagram of fig. 9 is obtained. Referring to FIG. 9, in equation 17, V (n) and R are used_{1_est}(n) instead of V_pred(n) and R_net(n) will be at a predefined time T from the current time step_hardThe lowest voltage in the period is determined as the charging voltage limit V_{limit_c}(n)。

In step S860, the control unit 130 bases on the charging current limit I_{limit_c}(n) and a charging voltage limit V_{limit_c}(n) to determine a state of power (SOP) indicative of a charge power limit of the battery 10. The charging power limit is at a predefined time T from the current time_hardWithin which the charging current limit I can be utilized_{limit_c}(n) and a charging voltage limit V_{limit_c}(n) power supplied to the battery 10 and equal to the charging current limit I_{limit_c}(n) and a charging voltage limit V_{limit_c}The product of (n).

In step S870, the control unit 130 determines the discharge current limit I_{limit_d}(n) of (a). In detail, the control unit 130 predicts the terminal voltage V based on the measured current i (n)_pred(n) predicting the pure resistance R_net(n) and a given minimum discharge voltage V_mimTo determine the discharge current limit I_{limit_d}(n) of (a). The control unit 130 may determine the discharge current limit I using equation 18 below_{limit_d}(n)。

< equation 18>

When I is_{limit_d}(n) less than a given minimum discharge current I_mimIn time, the control unit 130 may limit the discharge current I_{limit_d}(n) is determined as the sum of the given minimum discharge current I_mimThe same value.

In step S880, the control unit 130 determines the discharge voltage limitV_{limit_d}(n) of (a). In detail, the control unit 130 is based on the measurement terminal voltage v (n), the measurement current I (n), the discharge current limit I_{limit_d}(n) and resistance R of first resistor 210_{1_est}(n) to determine the discharge voltage limit V_{limit_d}(n) of (a). The control unit 130 may determine the discharge voltage limit V using the following equation 19_{limit_d}(n)。

< equation 19>

V_{limit_d}(n)＝V_pred(n)+{I_{limit_d}(n)-I(n)}R_net(n)

In equation 19, V_{limit_d}(n) is equal to t ═ t of equation 13_n+T_hardAnd I_hard＝I_{limit_d}(n)。

Fig. 10 shows when the current of the battery 10 is from a point of time t indicating the current time step_nTo t_n+T_hardThe current of the battery 10 is constant at I_{limit_d}(n) the change in terminal voltage of the battery 10. I.e. by mixing I_{limit_d}(n) substituting into I of equation 13_hardThe voltage diagram of fig. 10 was obtained. Referring to fig. 10, in contrast to equation 17, in equation 19, V is used_pred(n) and R_net(n) in place of V (n) and R_{1_est}(n) for a predefined time T to be at from the current time step_hardIs determined as the discharge voltage limit V_{limit_d}(n)。

In step S890, the control unit 130 bases the discharge current limit I_{limit_d}(n) and discharge voltage limit V_{limit_d}(n) to determine the SOP representing the discharge power limit of the battery 10. The discharge power limit is at a predefined time T from the present time_hardWithin which the discharge current limit I can be utilized_{limit_d}(n) and discharge voltage limit V_{limit_d}(n) power supplied to the battery 10 and equal to the discharge current limit I_{limit_d}(n) and discharge voltage limit V_{limit_d}The product of (n).

The control unit 130 may indicate the charging voltage limit V_{limit_c}(n) and/or discharge voltage limit V_{limit_d}The notification signal of (n) is transmitted to the external device 2. After step S890, may be performedStep S1410 of the method of fig. 14, described below.

Before the method of fig. 11 or 14 below starts, the control unit 130 determines the instantaneous power P of the battery 10 based on the measurement terminal voltage v (n) and the measurement current i (n)_inst。P_inst＝V(n)I(n)。

Fig. 11 is a flowchart illustrating a method for smoothing a charging power limit of the battery 10 according to another embodiment of the present disclosure, and fig. 12 and 13 illustrate different exemplary graphs referred to in describing the method of fig. 11. After the charge power limit for the current time step is determined by the method of fig. 8, the method of fig. 11 begins.

Referring to fig. 11, in step S1110, the control unit 130 bases on the maximum charging voltage V_maxAnd measuring the terminal voltage V (n) to determine the first weighting factor W_{v_c}. In detail, the control unit 130 controls the charging voltage V by varying the charging voltage from the maximum_maxSubtracting the measurement terminal voltage V (n) to determine the first voltage difference V_maxV (n) and determines a first delay time associated with the first voltage difference according to a given first look-up table stored in the memory 120. Fig. 12 is a graph showing a correlation between a voltage difference in the charging direction and a delay time, which are defined in the first lookup table. As can be seen from the graph of fig. 12, as the first voltage difference in the charging direction increases, the first delay time associated therewith may increase. For example, when the first voltage difference is 0.2V, the first delay time is 6 seconds, and when the first voltage difference is 0.3V, the first delay time is 16 seconds. When the first voltage difference is equal to or greater than a predetermined value (e.g., 0.4V), the control unit 130 may determine a given maximum delay time (e.g., 20 seconds) as the first delay time. The control unit 130 determines the first weighting factor W based on the first delay time_{v_c}. The control unit 130 may determine the first weighting factor W using equation 20 below_{v_c}。

< equation 20>

T_{v_c_s}Is a first delay time, and T_{v_c_r}Is a given first reference time. In equation 20, it can be seen that W_{v_c}May be equal to or greater than 0 and less than 1.

In step S1120, the control unit 130 smoothes the charging power limit P based on the previous smoothing_{s_c_pre}Charging power limit P_{raw_c}And instantaneous power P_instTo determine a second weighting factor W_{p_c}。P_{s_c_pre}Is the latest smoothed charge power limit before the current time step and may be a value stored in memory 120. To cooperate with P_{s_c_pre}In distinction, P_{raw_c}May be referred to as the "current state of charge power". In detail, the control unit 130 smoothes the charging power limit P by smoothing from the upper one_{s_c_pre}Minus the instantaneous power P_instTo determine a first power difference P_{s_c_pre}-P_instAnd determining an indicated first power difference P_{s_c_pre}-P_instSmoothed charging power limit P_{s_c_pre}A first power ratio of relative magnitude. For example, when P_{s_c_pre}10kW (kilowatt) and P_instWhen the power ratio is 8kW, (10-8)/10 is 0.20.

The control unit 130 determines the second delay time associated with the first power ratio according to a given second lookup table stored in the memory 120. Fig. 13 is a diagram showing the correlation between the power ratio and the delay time defined in the second lookup table. As can be seen from the graph of fig. 13, as the first power ratio in the charging direction increases, the second delay time associated therewith may increase. The control unit 130 determines a second weighting factor based on the second delay time. The control unit 130 may determine the second weighting factor W using equation 21 below_{p_c}。

< equation 21>

T_{p_c_s}Is a second delay time, and T_{p_c_r}Is to giveA second reference time is determined. The second reference time may be equal to or different from the first reference time. In equation 21, it can be seen that W_{p_c}Equal to or greater than 0 and less than 1.

In step S1130, the control unit 130 sets the first weighting factor W_{v_c}And a second weighting factor W_{p_c}Is set as the first reference weighting factor W_{LPF_c}。

In step S1140, the control unit 130 smoothes the charging power limit P based on the previous smoothing_{s_c_pre}And a first reference weighting factor W_{LPF_c}To make the charging power limit P_{raw_c}And (6) smoothing. Make charging power limit P_{raw_c}The smoothing represents using a first reference weighting factor W_{LPF_c}Calculate the last smoothed charging power limit P_{s_c_pre}And a charging power limit P_{raw_c}Is calculated as the weighted average of (a). The control unit 130 may use the following equation 22 to make the charging power limit P_{raw_c}And (6) smoothing.

< equation 22>

P_{s_c}＝W_{LPF_c}P_{s_c_pre}+{1-W_{LPF_c}}P_{raw_c}

P_{s_c}Is to smooth the charging power limit and corresponds to correcting the charging power limit P by equation 22_{raw_c}The result of (1).

In step S1150, control unit 130 will indicate smoothed charging power limit P_{s_c}To the external device 2.

Fig. 14 is a flowchart illustrating a method for smoothing a discharge power limit of the battery 10 according to another embodiment of the present disclosure, and fig. 15 illustrates an exemplary graph referred to in describing the method of fig. 14. The method of fig. 14 begins after determining the discharge power limit for the current time step by the method of fig. 8.

Referring to fig. 14, in step S1410, the control unit 130 bases on the minimum discharge voltage V_minAnd measuring the terminal voltage V (n) to determine the third weighting factor W_{v_d}. In detail, the control unit 130 determines the minimum discharge voltage V by subtracting the minimum discharge voltage V from the measurement terminal voltage V (n)_minTo determine a second voltage difference V (n) -V_minAnd a third delay time associated with the second voltage difference is determined from a given third look-up table stored in the memory 120. Fig. 15 is a graph showing the correlation between the voltage difference in the discharge direction and the delay time, which is defined in the third lookup table. As can be seen from the graph of fig. 15, as the second voltage difference in the discharging direction increases, the third delay time associated therewith also increases. For example, when the second voltage difference is 0.2V, the third delay time is 10 seconds, and when the second voltage difference is 0.3V, the third delay time is 60 seconds. When the second voltage difference is a predetermined value (e.g., 0.3V) or more, the control unit 130 may determine a given maximum delay time (e.g., 60 seconds) as the third delay time. The control unit 130 determines the third weighting factor W based on the third delay time_{v_d}. The control unit 130 may determine the third weighting factor W using equation 23 below_{v_d}。

< equation 23>

T_{v_d_s}Is a third delay time, and T_{v_d_r}Is a given third reference time. In equation 23, it can be seen that W_{v_d}Equal to or greater than 0 and less than 1.

In step S1420, the control unit 130 smoothes the discharge power limit P based on the previous one_{s_d_pre}Discharge power limit P_{raw_d}And instantaneous power P_instTo determine a fourth weighting factor W_{p_d}。P_{s_d_pre}Is the discharge power limit of the latest smoothing before the current time step and may be a value stored in the memory 120. In detail, the control unit 130 smoothes the discharge power limit P by from the previous one_{s_d_pre}Minus the instantaneous power P_instTo determine a second power difference P_{s_d_pre}-P_instAnd determining an indicated second power difference P_{s_d_pre}-P_instAnd the last smoothed discharge power limit P_{s_d_pre}Second work of relative magnitudeRatio of the ratios.

The control unit 130 determines a fourth delay time associated with the second power ratio according to a given fourth lookup table stored in the memory 120. The fourth lookup table may be identical to the second lookup table, and thus redundant description thereof is omitted herein. The control unit 130 determines a fourth weighting factor based on the fourth delay time. The control unit 130 may determine the fourth weighting factor W using equation 24 described below_{p_d}。

< equation 24>

T_{p_d_s}Is a fourth delay time, and T_{p_d_r}Is the given fourth reference time. The fourth reference time may be equal to or different from the third reference time. In equation 24, it can be seen that W_{p_d}Equal to or greater than 0 and less than 1.

In step S1430, the control unit 130 applies the third weighting factor W_{v_d}And a fourth weighting factor W_{p_d}Is set as the second reference weighting factor W_{LPF_d}。

In step S1440, the control unit 130 smoothes the discharge power limit P based on the previous smoothing_{s_d_pre}And a second reference weighting factor W_{LPF_d}To make the discharge power limit P_{raw_d}And (6) smoothing. Make the discharge power limit P_{raw_d}The smoothing means using a second reference weighting factor W_{LPF_d}To calculate the last smoothed discharge power limit P_{s_d_pre}And discharge power limit P_{raw_d}Is calculated as the weighted average of (a). The control unit 130 may make the discharge power limit P using the following equation 25_{raw_d}And (6) smoothing.

< equation 25>

P_{s_d}＝W_{LPF_d}P_{s_d_pre}+{1-W_{LPF_d}}P_{raw_d}

P_{s_d}Is to smooth the discharge power limit and corresponds to correcting the discharge power limit P by equation 25_{raw_d}The result of (1).

In step S1450, the control unit 130 will indicate the smoothing discharge power limit P_{s_d}To the external device 2.

As soon as each step is completed, data indicating the result of performing each step shown in fig. 3, 5, 6, 8, 11, and 14 may be stored in the memory 120 through the control unit 130.

The embodiments of the present disclosure described above are not only realized by the apparatuses and methods but also realized by a program that executes functions corresponding to the configuration of the embodiments of the present disclosure or a recording medium having the program recorded thereon, which can be easily realized by those skilled in the art from the disclosure of the foregoing embodiments.

While the present disclosure has been described above with reference to a limited number of embodiments and drawings, the present disclosure is not limited thereto, and various modifications and changes will be apparent to those skilled in the art within the technical scope of the present disclosure and the equivalent scope of the appended claims.

In addition, since many substitutions, modifications and changes may be made to the present disclosure described above by those skilled in the art without departing from the technical aspects of the present disclosure, the present disclosure is not limited to the embodiments and the drawings described above, and some or all of the embodiments may be selectively combined to allow various improvements.

< description of reference numerals >

1: battery pack

10: battery with a battery cell

20: switch with a switch body

100: battery management system

110: sensing unit

120: memory device

130: control unit

140: communication interface

200: equivalent circuit model

210: a first resistor

220: second resistor

230: capacitor with a capacitor element

Claims (12)

1. A method for periodically smoothing a charge power limit of a battery at each time step, comprising:

measuring a terminal voltage and current of the battery;

determining an instantaneous power of the battery based on the measured terminal voltage and the measured current;

determining a charging current limit and a charging voltage limit for the battery;

determining a charging power limit for the battery based on the charging current limit and the charging voltage limit;

determining a first weighting factor based on a given maximum charging voltage and the measured terminal voltage;

determining a second weighting factor based on a last smoothed charging power limit, the charging power limit, and the instantaneous power, wherein the last smoothed charging power limit is a value stored in memory and equal to a latest smoothed charging power limit before a current time step;

setting a smaller one of the first and second weighting factors as a first reference weighting factor;

smoothing the charging power limit by calculating a weighted average of the charging power limit determined at the current time step and the last smoothed charging power limit using the first reference weighting factor; and

transmitting a notification signal indicating the smoothed charging power limit to an external device.

2. The method of claim 1, wherein determining the first weighting factor comprises:

determining a first voltage difference by subtracting the measured terminal voltage from the maximum charging voltage;

determining a first delay time associated with the first voltage difference according to a given first lookup table defining a correlation between voltage difference in charging direction and delay time; and

determining the first weighting factor based on the first delay time.

3. The method of claim 2, wherein the first weighting factor is determined using equation 1 below,

< equation 1>

Wherein, T_{v_c_s}Is the first delay time, T_{v_c_r}Is a given first reference time, and W_{v_c}Is the first weighting factor.

4. The method of claim 1, wherein determining the second weighting factor comprises:

determining a first power difference by subtracting the instantaneous power from the last smoothed charging power limit;

determining a first power ratio indicative of a relative magnitude of the first power difference to the last smoothed charging power limit;

determining a second delay time associated with the first power ratio from a given second look-up table defining a correlation between power difference and delay time; and

determining the second weighting factor based on the second delay time.

5. The method of claim 4, wherein the second weighting factor is determined using equation 2 below,

< equation 2>

Wherein, T_{p_c_s}Is the second delay time, T_{p_c_r}Is a given second reference time, and W_{p_c}Is the second weighting factor.

6. The method of claim 1, wherein the charging power limit is smoothed using equation 3 below,

< equation 3>

P_{s_c}＝W_{LPF_c}P_{s_c_pre}+{1-W_{LPF_c}}P_{raw_c}

Wherein, W_{LPF_c}Is the first reference weighting factor, P_{s_c_pr}Is the last smoothed charging power limit, P_{raw_c}Is the charging power limit, and P_{s_c}Is the smoothed charging power limit.

7. A method for periodically smoothing a discharge power limit of a battery at each time step, comprising:

measuring a terminal voltage and current of the battery;

determining an instantaneous power of the battery based on the measured terminal voltage and the measured current;

determining a discharge current limit and a discharge voltage limit of the battery;

determining a discharge power limit for the battery based on the discharge current limit and the discharge voltage limit;

determining a third weighting factor based on the given minimum discharge voltage and the measured terminal voltage;

determining a fourth weighting factor based on a last smoothed discharge power limit, the discharge power limit, and the instantaneous power, wherein the last smoothed discharge power limit is a value stored in memory and equal to a discharge power limit that was last smoothed before a current time step;

setting a smaller one of the third and fourth weighting factors as a second reference weighting factor;

smoothing the discharge power limit by calculating a weighted average of the discharge power limit determined at the current time step and the last smoothed discharge power limit using the second reference weighting factor; and

transmitting a notification signal indicating the smoothed discharge power limit to an external device.

8. The method of claim 7, wherein determining the third weighting factor comprises:

determining a second voltage difference by subtracting the measured terminal voltage from the minimum discharge voltage;

determining a third delay time associated with the second voltage difference according to a given third look-up table defining a correlation between the voltage difference in the discharge direction and the delay time; and

determining the third weighting factor based on the third delay time.

9. The method of claim 7, wherein determining the fourth weighting factor comprises:

determining a second power difference by subtracting the instantaneous power from the last smoothed discharge power limit;

determining a second power ratio indicative of a relative magnitude of the second power difference to the last smoothed discharge power limit;

determining a fourth delay time associated with the second power ratio from a given fourth lookup table, the given fourth lookup table defining a correlation between power difference and delay time; and

determining the fourth weighting factor based on the fourth delay time.

10. The method of claim 7, wherein the discharge power limit is smoothed using equation 4 below,

< equation 4>

P_{s_d}＝W_{LPF_d}P_{s_d_pre}+{1-W_{LPF_d}}P_{raw_d}

Wherein, W_{LPF_d}Is said second reference weighting factor, P_{s_d_pre}Is the last smoothed discharge power limit, P_{raw_d}Is the discharge power limit, and P_{s_d}Is the smoothed discharge power limit.

11. A battery management system for periodically smoothing a charge power limit of a battery at each time step, comprising:

a sensing unit measuring a terminal voltage and current of the battery;

a control unit operatively coupled to the sensing unit;

wherein the control unit is configured to:

determining an instantaneous power of the battery based on the measured terminal voltage and the measured current;

determining a charging current limit and a charging voltage limit for the battery;

determining a charging power limit for the battery based on the charging current limit and the charging voltage limit;

determining a first weighting factor based on a given maximum charging voltage and the measured terminal voltage;

determining a second weighting factor based on a last smoothed charging power limit, the charging power limit, and the instantaneous power, wherein the last smoothed charging power limit is a value stored in memory and equal to a latest smoothed charging power limit before a current time step;

setting a smaller one of the first and second weighting factors as a first reference weighting factor;

smoothing the charging power limit by calculating a weighted average of the charging power limit determined at the current time step and the last smoothed charging power limit using the first reference weighting factor; and

transmitting a notification signal indicating the smoothed charging power limit to an external device.

12. A battery management system for periodically smoothing a discharge power limit of a battery at each time step, comprising:

a sensing unit measuring a terminal voltage and current of the battery;

a control unit operatively coupled to the sensing unit;

wherein the control unit is configured to:

determining an instantaneous power of the battery based on the measured terminal voltage and the measured current;

determining a discharge current limit and a discharge voltage limit of the battery;

determining a discharge power limit for the battery based on the discharge current limit and the discharge voltage limit;

determining a third weighting factor based on the given minimum discharge voltage and the measured terminal voltage;

determining a fourth weighting factor based on a last smoothed discharge power limit, the discharge power limit, and the instantaneous power, wherein the last smoothed discharge power limit is a value stored in memory and equal to a discharge power limit that was last smoothed before a current time step;

setting a smaller one of the third and fourth weighting factors as a second reference weighting factor;

smoothing the discharge power limit by calculating a weighted average of the discharge power limit determined at the current time step and the last smoothed discharge power limit using the second reference weighting factor; and

transmitting a notification signal indicating the smoothed discharge power limit to an external device.

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